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<h1>src/qvmath/qvreprojectionerror.cpp</h1><a href="qvreprojectionerror_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> *      Copyright (C) 2007, 2008, 2009, 2010, 2011, 2012. PARP Research Group.</span>
<a name="l00003"></a>00003 <span class="comment"> *      &lt;http://perception.inf.um.es&gt;</span>
<a name="l00004"></a>00004 <span class="comment"> *      University of Murcia, Spain.</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> *      This file is part of the QVision library.</span>
<a name="l00007"></a>00007 <span class="comment"> *</span>
<a name="l00008"></a>00008 <span class="comment"> *      QVision is free software: you can redistribute it and/or modify</span>
<a name="l00009"></a>00009 <span class="comment"> *      it under the terms of the GNU Lesser General Public License as</span>
<a name="l00010"></a>00010 <span class="comment"> *      published by the Free Software Foundation, version 3 of the License.</span>
<a name="l00011"></a>00011 <span class="comment"> *</span>
<a name="l00012"></a>00012 <span class="comment"> *      QVision is distributed in the hope that it will be useful,</span>
<a name="l00013"></a>00013 <span class="comment"> *      but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00014"></a>00014 <span class="comment"> *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the</span>
<a name="l00015"></a>00015 <span class="comment"> *      GNU Lesser General Public License for more details.</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> *      You should have received a copy of the GNU Lesser General Public</span>
<a name="l00018"></a>00018 <span class="comment"> *      License along with QVision. If not, see &lt;http://www.gnu.org/licenses/&gt;.</span>
<a name="l00019"></a>00019 <span class="comment"> */</span>
<a name="l00020"></a>00020 
<a name="l00024"></a>00024 
<a name="l00025"></a>00025 <span class="preprocessor">#include &lt;<a class="code" href="qvreprojectionerror_8h.html" title="File from the QVision library.">qvmath/qvreprojectionerror.h</a>&gt;</span>
<a name="l00026"></a>00026 
<a name="l00027"></a>00027 <span class="comment">/* evaluateReprojectionResidualsAndJacobian function:</span>
<a name="l00028"></a>00028 <span class="comment">   --------------------------------------------------</span>
<a name="l00029"></a>00029 <span class="comment">  This is an auxiliar function for &#39;optimizeReprojectionErrorForCameraPose&#39;,</span>
<a name="l00030"></a>00030 <span class="comment">  which estimates the Jacobian of the reprojection error function.</span>
<a name="l00031"></a>00031 <span class="comment"></span>
<a name="l00032"></a>00032 <span class="comment">  Maple code:</span>
<a name="l00033"></a>00033 <span class="comment"></span>
<a name="l00034"></a>00034 <span class="comment">    ----------------------------------------</span>
<a name="l00035"></a>00035 <span class="comment">Norm2 := v -&gt; sqrt(v[1]^2 + v[2]^2):</span>
<a name="l00036"></a>00036 <span class="comment">FromHomogeneous2D := p3D -&gt; Vector([p3D[1]/p3D[3], p3D[2]/p3D[3]]):</span>
<a name="l00037"></a>00037 <span class="comment">QuaternionToRotationMatrix := q -&gt;</span>
<a name="l00038"></a>00038 <span class="comment">    Matrix([[1,0,0],[0,1,0],[0,0,1]]) +</span>
<a name="l00039"></a>00039 <span class="comment">    (2.0 / (q[1]^2+q[2]^2+q[3]^2+q[4]^2)) *</span>
<a name="l00040"></a>00040 <span class="comment">    Matrix(     [       [-q[2]*q[2]-q[3]*q[3], q[1]*q[2]-q[3]*q[4], q[3]*q[1]+q[2]*q[4]],</span>
<a name="l00041"></a>00041 <span class="comment">            [q[1]*q[2]+q[3]*q[4], -q[3]*q[3]-q[1]*q[1], q[2]*q[3]-q[1]*q[4]],</span>
<a name="l00042"></a>00042 <span class="comment">            [q[3]*q[1]-q[2]*q[4], q[2]*q[3]+q[1]*q[4], -q[2]*q[2]-q[1]*q[1]]</span>
<a name="l00043"></a>00043 <span class="comment">        ]):</span>
<a name="l00044"></a>00044 <span class="comment"></span>
<a name="l00045"></a>00045 <span class="comment">R := QuaternionToRotationMatrix(Vector([q1,q2,q3,q4])):</span>
<a name="l00046"></a>00046 <span class="comment">t := Vector([tx,ty,tz]):</span>
<a name="l00047"></a>00047 <span class="comment">p := Vector([px, py]):</span>
<a name="l00048"></a>00048 <span class="comment">P := Vector([x,y,z]):</span>
<a name="l00049"></a>00049 <span class="comment">res := Norm2(FromHomogeneous2D(R.P+t)-p):</span>
<a name="l00050"></a>00050 <span class="comment"></span>
<a name="l00051"></a>00051 <span class="comment">M := Vector([ diff(res, q1), diff(res, q2), diff(res, q3), diff(res, q4), diff(res, tx), diff(res, ty), diff(res, tz), res ]):</span>
<a name="l00052"></a>00052 <span class="comment">CodeGeneration[C](M, optimize = true);</span>
<a name="l00053"></a>00053 <span class="comment">    ----------------------------------------</span>
<a name="l00054"></a>00054 <span class="comment">*/</span>
<a name="l00055"></a>00055 
<a name="l00056"></a>00056 <span class="keywordtype">void</span> evaluateReprojectionResidualsAndJacobian(  <span class="keyword">const</span> <span class="keywordtype">double</span> q1, <span class="keyword">const</span> <span class="keywordtype">double</span> q2, <span class="keyword">const</span> <span class="keywordtype">double</span> q3, <span class="keyword">const</span> <span class="keywordtype">double</span> q4,
<a name="l00057"></a>00057                         <span class="keyword">const</span> <span class="keywordtype">double</span> tx, <span class="keyword">const</span> <span class="keywordtype">double</span> ty, <span class="keyword">const</span> <span class="keywordtype">double</span> tz,
<a name="l00058"></a>00058                         <span class="keyword">const</span> <span class="keywordtype">double</span> px, <span class="keyword">const</span> <span class="keywordtype">double</span> py,
<a name="l00059"></a>00059                         <span class="keyword">const</span> <span class="keywordtype">double</span> x, <span class="keyword">const</span> <span class="keywordtype">double</span> y, <span class="keyword">const</span> <span class="keywordtype">double</span> z,
<a name="l00060"></a>00060                         <span class="keywordtype">double</span> *residual, <span class="keywordtype">double</span> *jacobian)
<a name="l00061"></a>00061     {
<a name="l00062"></a>00062     <span class="keyword">const</span> <span class="keywordtype">double</span> t1 = q1 * q1;
<a name="l00063"></a>00063     <span class="keyword">const</span> <span class="keywordtype">double</span> t2 = q2 * q2;
<a name="l00064"></a>00064     <span class="keyword">const</span> <span class="keywordtype">double</span> t3 = q3 * q3;
<a name="l00065"></a>00065     <span class="keyword">const</span> <span class="keywordtype">double</span> t4 = q4 * q4;
<a name="l00066"></a>00066     <span class="keyword">const</span> <span class="keywordtype">double</span> t5 = t1 + t2 + t3 + t4;
<a name="l00067"></a>00067     <span class="keyword">const</span> <span class="keywordtype">double</span> t6 = 0.1e1 / t5;
<a name="l00068"></a>00068     <span class="keyword">const</span> <span class="keywordtype">double</span> t7 = -t2 - t3;
<a name="l00069"></a>00069     <span class="keyword">const</span> <span class="keywordtype">double</span> t12 = q1 * q2;
<a name="l00070"></a>00070     <span class="keyword">const</span> <span class="keywordtype">double</span> t13 = q3 * q4;
<a name="l00071"></a>00071     <span class="keyword">const</span> <span class="keywordtype">double</span> t14 = t12 - t13;
<a name="l00072"></a>00072     <span class="keyword">const</span> <span class="keywordtype">double</span> t18 = q3 * q1;
<a name="l00073"></a>00073     <span class="keyword">const</span> <span class="keywordtype">double</span> t19 = q2 * q4;
<a name="l00074"></a>00074     <span class="keyword">const</span> <span class="keywordtype">double</span> t20 = t18 + t19;
<a name="l00075"></a>00075     <span class="keyword">const</span> <span class="keywordtype">double</span> t24 = (0.1e1 + 0.20e1 * t6 * t7) * x + 0.20e1 * t6 * t14 * y + 0.20e1 * t6 * t20 * z + tx;
<a name="l00076"></a>00076     <span class="keyword">const</span> <span class="keywordtype">double</span> t25 = t18 - t19;
<a name="l00077"></a>00077     <span class="keyword">const</span> <span class="keywordtype">double</span> t29 = q2 * q3;
<a name="l00078"></a>00078     <span class="keyword">const</span> <span class="keywordtype">double</span> t30 = q1 * q4;
<a name="l00079"></a>00079     <span class="keyword">const</span> <span class="keywordtype">double</span> t31 = t29 + t30;
<a name="l00080"></a>00080     <span class="keyword">const</span> <span class="keywordtype">double</span> t35 = -t2 - t1;
<a name="l00081"></a>00081     <span class="keyword">const</span> <span class="keywordtype">double</span> t40 = 0.20e1 * t6 * t25 * x + 0.20e1 * t6 * t31 * y + (0.1e1 + 0.20e1 * t6 * t35) * z + tz;
<a name="l00082"></a>00082     <span class="keyword">const</span> <span class="keywordtype">double</span> t41 = 0.1e1 / t40;
<a name="l00083"></a>00083     <span class="keyword">const</span> <span class="keywordtype">double</span> t43 = t24 * t41 - px;
<a name="l00084"></a>00084     <span class="keyword">const</span> <span class="keywordtype">double</span> t44 = t43 * t43;
<a name="l00085"></a>00085     <span class="keyword">const</span> <span class="keywordtype">double</span> t45 = t12 + t13;
<a name="l00086"></a>00086     <span class="keyword">const</span> <span class="keywordtype">double</span> t49 = -t3 - t1;
<a name="l00087"></a>00087     <span class="keyword">const</span> <span class="keywordtype">double</span> t54 = t29 - t30;
<a name="l00088"></a>00088     <span class="keyword">const</span> <span class="keywordtype">double</span> t58 = 0.20e1 * t6 * t45 * x + (0.1e1 + 0.20e1 * t6 * t49) * y + 0.20e1 * t6 * t54 * z + ty;
<a name="l00089"></a>00089     <span class="keyword">const</span> <span class="keywordtype">double</span> t60 = t58 * t41 - py;
<a name="l00090"></a>00090     <span class="keyword">const</span> <span class="keywordtype">double</span> t61 = t60 * t60;
<a name="l00091"></a>00091     <span class="keyword">const</span> <span class="keywordtype">double</span> t63 = sqrt(t44 + t61);
<a name="l00092"></a>00092     <span class="keyword">const</span> <span class="keywordtype">double</span> t64 = 0.1e1 / t63;
<a name="l00093"></a>00093     <span class="keyword">const</span> <span class="keywordtype">double</span> t65 = t5 * t5;
<a name="l00094"></a>00094     <span class="keyword">const</span> <span class="keywordtype">double</span> t66 = 0.1e1 / t65;
<a name="l00095"></a>00095     <span class="keyword">const</span> <span class="keywordtype">double</span> t67 = t66 * t7;
<a name="l00096"></a>00096     <span class="keyword">const</span> <span class="keywordtype">double</span> t68 = q1 * x;
<a name="l00097"></a>00097     <span class="keyword">const</span> <span class="keywordtype">double</span> t71 = t66 * t14;
<a name="l00098"></a>00098     <span class="keyword">const</span> <span class="keywordtype">double</span> t72 = y * q1;
<a name="l00099"></a>00099     <span class="keyword">const</span> <span class="keywordtype">double</span> t75 = t6 * q2;
<a name="l00100"></a>00100     <span class="keyword">const</span> <span class="keywordtype">double</span> t77 = 0.20e1 * t75 * y;
<a name="l00101"></a>00101     <span class="keyword">const</span> <span class="keywordtype">double</span> t78 = t66 * t20;
<a name="l00102"></a>00102     <span class="keyword">const</span> <span class="keywordtype">double</span> t79 = z * q1;
<a name="l00103"></a>00103     <span class="keyword">const</span> <span class="keywordtype">double</span> t82 = t6 * q3;
<a name="l00104"></a>00104     <span class="keyword">const</span> <span class="keywordtype">double</span> t84 = 0.20e1 * t82 * z;
<a name="l00105"></a>00105     <span class="keyword">const</span> <span class="keywordtype">double</span> t87 = t40 * t40;
<a name="l00106"></a>00106     <span class="keyword">const</span> <span class="keywordtype">double</span> t88 = 0.1e1 / t87;
<a name="l00107"></a>00107     <span class="keyword">const</span> <span class="keywordtype">double</span> t89 = t24 * t88;
<a name="l00108"></a>00108     <span class="keyword">const</span> <span class="keywordtype">double</span> t90 = t66 * t25;
<a name="l00109"></a>00109     <span class="keyword">const</span> <span class="keywordtype">double</span> t94 = 0.20e1 * t82 * x;
<a name="l00110"></a>00110     <span class="keyword">const</span> <span class="keywordtype">double</span> t95 = t66 * t31;
<a name="l00111"></a>00111     <span class="keyword">const</span> <span class="keywordtype">double</span> t98 = t6 * q4;
<a name="l00112"></a>00112     <span class="keyword">const</span> <span class="keywordtype">double</span> t100 = 0.20e1 * t98 * y;
<a name="l00113"></a>00113     <span class="keyword">const</span> <span class="keywordtype">double</span> t101 = t66 * t35;
<a name="l00114"></a>00114     <span class="keyword">const</span> <span class="keywordtype">double</span> t104 = t6 * q1;
<a name="l00115"></a>00115     <span class="keyword">const</span> <span class="keywordtype">double</span> t105 = 0.40e1 * t104;
<a name="l00116"></a>00116     <span class="keyword">const</span> <span class="keywordtype">double</span> t108 = -0.40e1 * t90 * t68 + t94 - 0.40e1 * t95 * t72 + t100 + (-0.40e1 * t101 * q1 - t105) * z;
<a name="l00117"></a>00117     <span class="keyword">const</span> <span class="keywordtype">double</span> t112 = t66 * t45;
<a name="l00118"></a>00118     <span class="keyword">const</span> <span class="keywordtype">double</span> t116 = 0.20e1 * t75 * x;
<a name="l00119"></a>00119     <span class="keyword">const</span> <span class="keywordtype">double</span> t117 = t66 * t49;
<a name="l00120"></a>00120     <span class="keyword">const</span> <span class="keywordtype">double</span> t122 = t66 * t54;
<a name="l00121"></a>00121     <span class="keyword">const</span> <span class="keywordtype">double</span> t126 = 0.20e1 * t98 * z;
<a name="l00122"></a>00122     <span class="keyword">const</span> <span class="keywordtype">double</span> t129 = t58 * t88;
<a name="l00123"></a>00123     <span class="keyword">const</span> <span class="keywordtype">double</span> t138 = 0.40e1 * t75;
<a name="l00124"></a>00124     <span class="keyword">const</span> <span class="keywordtype">double</span> t141 = y * q2;
<a name="l00125"></a>00125     <span class="keyword">const</span> <span class="keywordtype">double</span> t145 = 0.20e1 * t104 * y;
<a name="l00126"></a>00126     <span class="keyword">const</span> <span class="keywordtype">double</span> t146 = z * q2;
<a name="l00127"></a>00127     <span class="keyword">const</span> <span class="keywordtype">double</span> t151 = x * q2;
<a name="l00128"></a>00128     <span class="keyword">const</span> <span class="keywordtype">double</span> t155 = 0.20e1 * t98 * x;
<a name="l00129"></a>00129     <span class="keyword">const</span> <span class="keywordtype">double</span> t159 = 0.20e1 * t82 * y;
<a name="l00130"></a>00130     <span class="keyword">const</span> <span class="keywordtype">double</span> t164 = -0.40e1 * t90 * t151 - t155 - 0.40e1 * t95 * t141 + t159 + (-0.40e1 * t101 * q2 - t138) * z;
<a name="l00131"></a>00131     <span class="keyword">const</span> <span class="keywordtype">double</span> t171 = 0.20e1 * t104 * x;
<a name="l00132"></a>00132     <span class="keyword">const</span> <span class="keywordtype">double</span> t186 = 0.40e1 * t82;
<a name="l00133"></a>00133     <span class="keyword">const</span> <span class="keywordtype">double</span> t189 = y * q3;
<a name="l00134"></a>00134     <span class="keyword">const</span> <span class="keywordtype">double</span> t192 = z * q3;
<a name="l00135"></a>00135     <span class="keyword">const</span> <span class="keywordtype">double</span> t196 = 0.20e1 * t104 * z;
<a name="l00136"></a>00136     <span class="keyword">const</span> <span class="keywordtype">double</span> t199 = x * q3;
<a name="l00137"></a>00137     <span class="keyword">const</span> <span class="keywordtype">double</span> t206 = -0.40e1 * t90 * t199 + t171 - 0.40e1 * t95 * t189 + t77 - 0.40e1 * t101 * t192;
<a name="l00138"></a>00138     <span class="keyword">const</span> <span class="keywordtype">double</span> t219 = 0.20e1 * t75 * z;
<a name="l00139"></a>00139     <span class="keyword">const</span> <span class="keywordtype">double</span> t228 = q4 * x;
<a name="l00140"></a>00140     <span class="keyword">const</span> <span class="keywordtype">double</span> t231 = y * q4;
<a name="l00141"></a>00141     <span class="keyword">const</span> <span class="keywordtype">double</span> t234 = z * q4;
<a name="l00142"></a>00142     <span class="keyword">const</span> <span class="keywordtype">double</span> t245 = -0.40e1 * t90 * t228 - t116 - 0.40e1 * t95 * t231 + t145 - 0.40e1 * t101 * t234;
<a name="l00143"></a>00143 
<a name="l00144"></a>00144     jacobian[0] = t64 * (t43 * ((-0.40e1 * t67 * t68 - 0.40e1 * t71 * t72 + t77 - 0.40e1 * t78 * t79 + t84) * t41 - t89 * t108) + t60 * ((-0.40e1 * t112 * t68 + t116 + (-0.40e1 * t117 * q1 - t105) * y - 0.40e1 * t122 * t79 - t126) * t41 - t129 * t108));
<a name="l00145"></a>00145     jacobian[1] = t64 * (t43 * (((-0.40e1 * t67 * q2 - t138) * x - 0.40e1 * t71 * t141 + t145 - 0.40e1 * t78 * t146 + t126) * t41 - t89 * t164) + t60 * ((-0.40e1 * t112 * t151 + t171 - 0.40e1 * t117 * t141 - 0.40e1 * t122 * t146 + t84) * t41 - t129 * t164));
<a name="l00146"></a>00146     jacobian[2] = t64 * (t43 * (((-0.40e1 * t67 * q3 - t186) * x - 0.40e1 * t71 * t189 - t100 - 0.40e1 * t78 * t192 + t196) * t41 - t89 * t206) + t60 * ((-0.40e1 * t112 * t199 + t155 + (-0.40e1 * t117 * q3 - t186) * y - 0.40e1 * t122 * t192 + t219) * t41 - t129 * t206));
<a name="l00147"></a>00147     jacobian[3] = t64 * (t43 * ((-0.40e1 * t67 * t228 - 0.40e1 * t71 * t231 - t159 - 0.40e1 * t78 * t234 + t219) * t41 - t89 * t245) + t60 * ((-0.40e1 * t112 * t228 + t94 - 0.40e1 * t117 * t231 - 0.40e1 * t122 * t234 - t196) * t41 - t129 * t245));
<a name="l00148"></a>00148     jacobian[4] = t64 * t43 * t41;
<a name="l00149"></a>00149     jacobian[5] = t64 * t60 * t41;
<a name="l00150"></a>00150     jacobian[6] = t64 * (-t43 * t24 * t88 - t60 * t58 * t88);
<a name="l00151"></a>00151     residual[0] = t63;
<a name="l00152"></a>00152     }
<a name="l00153"></a>00153 
<a name="l00154"></a><a class="code" href="group__qvprojectivegeometry.html#ga3f3a84e1786f64ea1e8ba2975759f406">00154</a> <a class="code" href="classQVEuclideanMapping3.html" title="Class modeling rotation-translation transformations for 3D points.">QVEuclideanMapping3</a> <a class="code" href="group__qvprojectivegeometry.html#ga3f3a84e1786f64ea1e8ba2975759f406" title="Improves the estimated location of a camera pose by refining its reprojection error...">optimizeReprojectionErrorForCameraPose</a>(<span class="keyword">const</span> <a class="code" href="classQVEuclideanMapping3.html" title="Class modeling rotation-translation transformations for 3D points.">QVEuclideanMapping3</a> &amp;camera0, <span class="keyword">const</span> QList&lt;QPointF&gt; &amp;points2D, <span class="keyword">const</span> QList&lt;QV3DPointF&gt; &amp;points3D, <span class="keyword">const</span> <span class="keywordtype">int</span> iterations)
<a name="l00155"></a>00155     {
<a name="l00156"></a>00156     <span class="keyword">const</span> <span class="keywordtype">int</span> n = points2D.size();
<a name="l00157"></a>00157 
<a name="l00158"></a>00158     <a class="code" href="classQVVector.html" title="Implementation of numerical vectors.">QVVector</a> x = camera0;
<a name="l00159"></a>00159     <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; iterations; i++)
<a name="l00160"></a>00160         {
<a name="l00161"></a>00161         <a class="code" href="classQVVector.html" title="Implementation of numerical vectors.">QVVector</a> f_x(n);
<a name="l00162"></a>00162         <a class="code" href="classQVMatrix.html" title="Implementation of numerical matrices.">QVMatrix</a> J(n, 7);
<a name="l00163"></a>00163         <span class="keywordtype">double</span>  *data_f_x = f_x.data(),
<a name="l00164"></a>00164             *data_J = J.<a class="code" href="classQVMatrix.html#a0c5b1e685d14d230c55cfcfb058e372a" title="Gets a reference of the data buffer of the matrix for read and write accesses.">getWriteData</a>();
<a name="l00165"></a>00165 
<a name="l00166"></a>00166         QListIterator&lt;QPointF&gt; iteratorPoints2D(points2D);
<a name="l00167"></a>00167         QListIterator&lt;QV3DPointF&gt; iteratorPoints3D(points3D);
<a name="l00168"></a>00168 
<a name="l00169"></a>00169         <span class="keywordtype">int</span> j = 0;
<a name="l00170"></a>00170         <span class="keywordflow">while</span> (iteratorPoints2D.hasNext())
<a name="l00171"></a>00171             {
<a name="l00172"></a>00172             <span class="keyword">const</span> QPointF p2D = iteratorPoints2D.next();
<a name="l00173"></a>00173             <span class="keyword">const</span> <a class="code" href="classQV3DPointF.html" title="3D point representation">QV3DPointF</a> p3D = iteratorPoints3D.next();
<a name="l00174"></a>00174             evaluateReprojectionResidualsAndJacobian(x[0], x[1], x[2], x[3], x[4], x[5], x[6], p2D.x(), p2D.y(), p3D.<a class="code" href="classQV3DPointF.html#aab1c8e4380b126607771339778a83a1e" title="Gets the value for the first coordinate of the 3D point.">x</a>(), p3D.<a class="code" href="classQV3DPointF.html#ab3999406794a8d4afa0718af691b8920" title="Gets the value for the second coordinate of the 3D point.">y</a>(), p3D.<a class="code" href="classQV3DPointF.html#aba286a7e040358ecbffce7c4566cdd8d" title="Gets the value for the third coordinate of the 3D point.">z</a>(), data_f_x + j, data_J + (7*j));
<a name="l00175"></a>00175             j++;
<a name="l00176"></a>00176             }
<a name="l00177"></a>00177 
<a name="l00178"></a>00178         <a class="code" href="classQVMatrix.html" title="Implementation of numerical matrices.">QVMatrix</a> H = J.<a class="code" href="classQVMatrix.html#a5470e61c2827d5485596c3901690154c" title="Matrix-matrix product.">dotProduct</a>(J, <span class="keyword">true</span>, <span class="keyword">false</span>);
<a name="l00179"></a>00179         <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; H.<a class="code" href="classQVMatrix.html#a420bba03aeccbd18161418049a025f66" title="Get width of the matrix.">getCols</a>(); i++)
<a name="l00180"></a>00180             H(i,i) += 0.01;
<a name="l00181"></a>00181         <a class="code" href="classQVVector.html" title="Implementation of numerical vectors.">QVVector</a> b = J.<a class="code" href="classQVMatrix.html#a5470e61c2827d5485596c3901690154c" title="Matrix-matrix product.">dotProduct</a>(f_x, <span class="keyword">true</span>);
<a name="l00182"></a>00182 
<a name="l00183"></a>00183         <a class="code" href="classQVVector.html" title="Implementation of numerical vectors.">QVVector</a> xInc;
<a name="l00184"></a>00184         <a class="code" href="group__qvmatrixalgebra.html#ga7afb7ef53aed190e810886e4941bc3de" title="Solves the linear system  for the unknown matrix , using the Cholesky decomposition...">solveByCholeskyDecomposition</a>(H, xInc, b);
<a name="l00185"></a>00185 
<a name="l00186"></a>00186         x = x - xInc;
<a name="l00187"></a>00187         }
<a name="l00188"></a>00188 
<a name="l00189"></a>00189     <span class="keywordflow">return</span> <a class="code" href="classQVEuclideanMapping3.html" title="Class modeling rotation-translation transformations for 3D points.">QVEuclideanMapping3</a>(x);
<a name="l00190"></a>00190     }
<a name="l00191"></a>00191 
<a name="l00192"></a>00192 <span class="comment">/* reprojectionResidualsAndJacobianFor3DPoint function:</span>
<a name="l00193"></a>00193 <span class="comment">   --------------------------------------------------</span>
<a name="l00194"></a>00194 <span class="comment">  This is an auxiliar function for &#39;optimizeReprojectionError3DPoint&#39;,</span>
<a name="l00195"></a>00195 <span class="comment">  which estimates the Jacobian of the reprojection error function.</span>
<a name="l00196"></a>00196 <span class="comment"></span>
<a name="l00197"></a>00197 <span class="comment">  Maple code:</span>
<a name="l00198"></a>00198 <span class="comment"></span>
<a name="l00199"></a>00199 <span class="comment">    ----------------------------------------</span>
<a name="l00200"></a>00200 <span class="comment"></span>
<a name="l00201"></a>00201 <span class="comment">Norm2 := v -&gt; sqrt(v[1]^2 + v[2]^2):</span>
<a name="l00202"></a>00202 <span class="comment">FromHomogeneous2D := p3D -&gt; Vector([p3D[1]/p3D[3], p3D[2]/p3D[3]]):</span>
<a name="l00203"></a>00203 <span class="comment">QuaternionToRotationMatrix := q -&gt;</span>
<a name="l00204"></a>00204 <span class="comment">    Matrix([[1,0,0],[0,1,0],[0,0,1]]) +</span>
<a name="l00205"></a>00205 <span class="comment">    (2.0 / (q[1]^2+q[2]^2+q[3]^2+q[4]^2)) *</span>
<a name="l00206"></a>00206 <span class="comment">    Matrix(     [       [-q[2]*q[2]-q[3]*q[3], q[1]*q[2]-q[3]*q[4], q[3]*q[1]+q[2]*q[4]],</span>
<a name="l00207"></a>00207 <span class="comment">            [q[1]*q[2]+q[3]*q[4], -q[3]*q[3]-q[1]*q[1], q[2]*q[3]-q[1]*q[4]],</span>
<a name="l00208"></a>00208 <span class="comment">            [q[3]*q[1]-q[2]*q[4], q[2]*q[3]+q[1]*q[4], -q[2]*q[2]-q[1]*q[1]]</span>
<a name="l00209"></a>00209 <span class="comment">        ]):</span>
<a name="l00210"></a>00210 <span class="comment"></span>
<a name="l00211"></a>00211 <span class="comment">R := QuaternionToRotationMatrix(Vector([q1,q2,q3,q4])):</span>
<a name="l00212"></a>00212 <span class="comment">t := Vector([tx,ty,tz]):</span>
<a name="l00213"></a>00213 <span class="comment">p := Vector([px, py]):</span>
<a name="l00214"></a>00214 <span class="comment">P := Vector([x,y,z]):</span>
<a name="l00215"></a>00215 <span class="comment">res := Norm2(FromHomogeneous2D(R.P+t)-p);</span>
<a name="l00216"></a>00216 <span class="comment"></span>
<a name="l00217"></a>00217 <span class="comment">M := Vector([ diff(res, x), diff(res, y), diff(res, z), res ]):</span>
<a name="l00218"></a>00218 <span class="comment">CodeGeneration[C](M, optimize = true);</span>
<a name="l00219"></a>00219 <span class="comment">    ----------------------------------------</span>
<a name="l00220"></a>00220 <span class="comment">*/</span>
<a name="l00221"></a>00221 <span class="keywordtype">void</span> reprojectionResidualsAndJacobianFor3DPoint(        <span class="keyword">const</span> <span class="keywordtype">double</span> q1, <span class="keyword">const</span> <span class="keywordtype">double</span> q2, <span class="keyword">const</span> <span class="keywordtype">double</span> q3, <span class="keyword">const</span> <span class="keywordtype">double</span> q4,
<a name="l00222"></a>00222                             <span class="keyword">const</span> <span class="keywordtype">double</span> tx, <span class="keyword">const</span> <span class="keywordtype">double</span> ty, <span class="keyword">const</span> <span class="keywordtype">double</span> tz,
<a name="l00223"></a>00223                             <span class="keyword">const</span> <span class="keywordtype">double</span> px, <span class="keyword">const</span> <span class="keywordtype">double</span> py,
<a name="l00224"></a>00224                             <span class="keyword">const</span> <span class="keywordtype">double</span> x, <span class="keyword">const</span> <span class="keywordtype">double</span> y, <span class="keyword">const</span> <span class="keywordtype">double</span> z,
<a name="l00225"></a>00225                             <span class="keywordtype">double</span> *residual, <span class="keywordtype">double</span> *jacobian)
<a name="l00226"></a>00226     {
<a name="l00227"></a>00227     <span class="keyword">const</span> <span class="keywordtype">double</span> t1 = q1 * q1;
<a name="l00228"></a>00228     <span class="keyword">const</span> <span class="keywordtype">double</span> t2 = q2 * q2;
<a name="l00229"></a>00229     <span class="keyword">const</span> <span class="keywordtype">double</span> t3 = q3 * q3;
<a name="l00230"></a>00230     <span class="keyword">const</span> <span class="keywordtype">double</span> t4 = q4 * q4;
<a name="l00231"></a>00231     <span class="keyword">const</span> <span class="keywordtype">double</span> t6 = 0.1e1 / (t1 + t2 + t3 + t4);
<a name="l00232"></a>00232     <span class="keyword">const</span> <span class="keywordtype">double</span> t10 = 0.1e1 + 0.20e1 * t6 * (-t2 - t3);
<a name="l00233"></a>00233     <span class="keyword">const</span> <span class="keywordtype">double</span> t12 = q1 * q2;
<a name="l00234"></a>00234     <span class="keyword">const</span> <span class="keywordtype">double</span> t13 = q3 * q4;
<a name="l00235"></a>00235     <span class="keyword">const</span> <span class="keywordtype">double</span> t15 = t6 * (t12 - t13);
<a name="l00236"></a>00236     <span class="keyword">const</span> <span class="keywordtype">double</span> t18 = q3 * q1;
<a name="l00237"></a>00237     <span class="keyword">const</span> <span class="keywordtype">double</span> t19 = q2 * q4;
<a name="l00238"></a>00238     <span class="keyword">const</span> <span class="keywordtype">double</span> t21 = t6 * (t18 + t19);
<a name="l00239"></a>00239     <span class="keyword">const</span> <span class="keywordtype">double</span> t24 = t10 * x + 0.20e1 * t15 * y + 0.20e1 * t21 * z + tx;
<a name="l00240"></a>00240     <span class="keyword">const</span> <span class="keywordtype">double</span> t26 = t6 * (t18 - t19);
<a name="l00241"></a>00241     <span class="keyword">const</span> <span class="keywordtype">double</span> t29 = q2 * q3;
<a name="l00242"></a>00242     <span class="keyword">const</span> <span class="keywordtype">double</span> t30 = q1 * q4;
<a name="l00243"></a>00243     <span class="keyword">const</span> <span class="keywordtype">double</span> t32 = t6 * (t29 + t30);
<a name="l00244"></a>00244     <span class="keyword">const</span> <span class="keywordtype">double</span> t38 = 0.1e1 + 0.20e1 * t6 * (-t2 - t1);
<a name="l00245"></a>00245     <span class="keyword">const</span> <span class="keywordtype">double</span> t40 = 0.20e1 * t26 * x + 0.20e1 * t32 * y + t38 * z + tz;
<a name="l00246"></a>00246     <span class="keyword">const</span> <span class="keywordtype">double</span> t41 = 0.1e1 / t40;
<a name="l00247"></a>00247     <span class="keyword">const</span> <span class="keywordtype">double</span> t43 = t24 * t41 - px;
<a name="l00248"></a>00248     <span class="keyword">const</span> <span class="keywordtype">double</span> t44 = t43 * t43;
<a name="l00249"></a>00249     <span class="keyword">const</span> <span class="keywordtype">double</span> t46 = t6 * (t12 + t13);
<a name="l00250"></a>00250     <span class="keyword">const</span> <span class="keywordtype">double</span> t52 = 0.1e1 + 0.20e1 * t6 * (-t3 - t1);
<a name="l00251"></a>00251     <span class="keyword">const</span> <span class="keywordtype">double</span> t55 = t6 * (t29 - t30);
<a name="l00252"></a>00252     <span class="keyword">const</span> <span class="keywordtype">double</span> t58 = 0.20e1 * t46 * x + t52 * y + 0.20e1 * t55 * z + ty;
<a name="l00253"></a>00253     <span class="keyword">const</span> <span class="keywordtype">double</span> t60 = t58 * t41 - py;
<a name="l00254"></a>00254     <span class="keyword">const</span> <span class="keywordtype">double</span> t61 = t60 * t60;
<a name="l00255"></a>00255     <span class="keyword">const</span> <span class="keywordtype">double</span> t63 = sqrt(t44 + t61);
<a name="l00256"></a>00256     <span class="keyword">const</span> <span class="keywordtype">double</span> t64 = 0.1e1 / t63;
<a name="l00257"></a>00257     <span class="keyword">const</span> <span class="keywordtype">double</span> t66 = t40 * t40;
<a name="l00258"></a>00258     <span class="keyword">const</span> <span class="keywordtype">double</span> t67 = 0.1e1 / t66;
<a name="l00259"></a>00259     <span class="keyword">const</span> <span class="keywordtype">double</span> t68 = t24 * t67;
<a name="l00260"></a>00260     <span class="keyword">const</span> <span class="keywordtype">double</span> t75 = t58 * t67;
<a name="l00261"></a>00261     jacobian[0] = t64 * (t43 * (t10 * t41 - 0.20e1 * t68 * t26) + t60 * (0.20e1 * t46 * t41 - 0.20e1 * t75 * t26));
<a name="l00262"></a>00262     jacobian[1] = t64 * (t43 * (0.20e1 * t15 * t41 - 0.20e1 * t68 * t32) + t60 * (t52 * t41 - 0.20e1 * t75 * t32));
<a name="l00263"></a>00263     jacobian[2] = t64 * (t43 * (0.20e1 * t21 * t41 - t68 * t38) + t60 * (0.20e1 * t55 * t41 - t75 * t38));
<a name="l00264"></a>00264     residual[0] = t63;
<a name="l00265"></a>00265     }
<a name="l00266"></a>00266 
<a name="l00267"></a><a class="code" href="group__qvprojectivegeometry.html#gabe1f2349f630e5584249273044cce486">00267</a> <a class="code" href="classQV3DPointF.html" title="3D point representation">QV3DPointF</a> <a class="code" href="group__qvprojectivegeometry.html#gabe1f2349f630e5584249273044cce486" title="Improves the estimated location of a 3D point by refining its reprojection error...">optimizeReprojectionErrorFor3DPoint</a>(<span class="keyword">const</span> <a class="code" href="classQV3DPointF.html" title="3D point representation">QV3DPointF</a> &amp;point3D, <span class="keyword">const</span> QList&lt;QVEuclideanMapping3&gt; &amp;cameraPoses, <span class="keyword">const</span> QHash&lt;int, QPointF&gt; &amp;projectionsOfAPoint, <span class="keyword">const</span> <span class="keywordtype">int</span> iterations, <span class="keyword">const</span> <span class="keywordtype">double</span> lambda)
<a name="l00268"></a>00268     {
<a name="l00269"></a>00269     <span class="keyword">const</span> <span class="keywordtype">int</span> n = projectionsOfAPoint.count();
<a name="l00270"></a>00270 
<a name="l00271"></a>00271     <a class="code" href="classQVVector.html" title="Implementation of numerical vectors.">QVVector</a> x = point3D;
<a name="l00272"></a>00272     <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; iterations; i++)
<a name="l00273"></a>00273         {
<a name="l00274"></a>00274         <a class="code" href="classQVVector.html" title="Implementation of numerical vectors.">QVVector</a> f_x(n);
<a name="l00275"></a>00275         <a class="code" href="classQVMatrix.html" title="Implementation of numerical matrices.">QVMatrix</a> J(n, 3);
<a name="l00276"></a>00276         <span class="keywordtype">double</span>  *data_f_x = f_x.data(),
<a name="l00277"></a>00277             *data_J = J.<a class="code" href="classQVMatrix.html#a0c5b1e685d14d230c55cfcfb058e372a" title="Gets a reference of the data buffer of the matrix for read and write accesses.">getWriteData</a>();
<a name="l00278"></a>00278 
<a name="l00279"></a>00279         QHashIterator&lt;int, QPointF&gt; it(projectionsOfAPoint);
<a name="l00280"></a>00280         <span class="keywordtype">int</span> j=0;
<a name="l00281"></a>00281         <span class="keywordflow">while</span> (it.hasNext())
<a name="l00282"></a>00282             {
<a name="l00283"></a>00283             it.next();
<a name="l00284"></a>00284             <span class="keyword">const</span> QPointF p2D = it.value();
<a name="l00285"></a>00285             <span class="keyword">const</span> <a class="code" href="classQVVector.html" title="Implementation of numerical vectors.">QVVector</a> v = cameraPoses[it.key()];
<a name="l00286"></a>00286 
<a name="l00287"></a>00287             reprojectionResidualsAndJacobianFor3DPoint(v[0], v[1], v[2], v[3], v[4], v[5], v[6], p2D.x(), p2D.y(), x[0], x[1], x[2], data_f_x + j, data_J + (3*j));
<a name="l00288"></a>00288             j++;
<a name="l00289"></a>00289             }
<a name="l00290"></a>00290 
<a name="l00291"></a>00291         <a class="code" href="classQVMatrix.html" title="Implementation of numerical matrices.">QVMatrix</a> H = J.<a class="code" href="classQVMatrix.html#a5470e61c2827d5485596c3901690154c" title="Matrix-matrix product.">dotProduct</a>(J, <span class="keyword">true</span>, <span class="keyword">false</span>);
<a name="l00292"></a>00292         <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; H.<a class="code" href="classQVMatrix.html#a420bba03aeccbd18161418049a025f66" title="Get width of the matrix.">getCols</a>(); i++)
<a name="l00293"></a>00293             H(i,i) += lambda;
<a name="l00294"></a>00294         <a class="code" href="classQVVector.html" title="Implementation of numerical vectors.">QVVector</a> b = J.<a class="code" href="classQVMatrix.html#a5470e61c2827d5485596c3901690154c" title="Matrix-matrix product.">dotProduct</a>(f_x, <span class="keyword">true</span>);
<a name="l00295"></a>00295 
<a name="l00296"></a>00296         <a class="code" href="classQVVector.html" title="Implementation of numerical vectors.">QVVector</a> xInc;
<a name="l00297"></a>00297         <a class="code" href="group__qvmatrixalgebra.html#ga7afb7ef53aed190e810886e4941bc3de" title="Solves the linear system  for the unknown matrix , using the Cholesky decomposition...">solveByCholeskyDecomposition</a>(H, xInc, b);
<a name="l00298"></a>00298 
<a name="l00299"></a>00299         x = x - xInc;
<a name="l00300"></a>00300         }
<a name="l00301"></a>00301 
<a name="l00302"></a>00302     <span class="keywordflow">return</span> x;
<a name="l00303"></a>00303     }
<a name="l00304"></a>00304 
<a name="l00305"></a>00305 <span class="comment">/* evaluateReprojectionResidualsAndJacobianCauchyDistribution function:</span>
<a name="l00306"></a>00306 <span class="comment">   --------------------------------------------------</span>
<a name="l00307"></a>00307 <span class="comment">  This is an auxiliar function for &#39;optimizeReprojectionErrorForCameraPose&#39;,</span>
<a name="l00308"></a>00308 <span class="comment">  which estimates the Jacobian of the reprojection error function.</span>
<a name="l00309"></a>00309 <span class="comment"></span>
<a name="l00310"></a>00310 <span class="comment">  Maple code:</span>
<a name="l00311"></a>00311 <span class="comment"></span>
<a name="l00312"></a>00312 <span class="comment">    ----------------------------------------</span>
<a name="l00313"></a>00313 <span class="comment">Norm2 := v -&gt; sqrt(v[1]^2 + v[2]^2):</span>
<a name="l00314"></a>00314 <span class="comment">FromHomogeneous2D := p3D -&gt; Vector([p3D[1]/p3D[3], p3D[2]/p3D[3]]):</span>
<a name="l00315"></a>00315 <span class="comment">QuaternionToRotationMatrix := q -&gt;</span>
<a name="l00316"></a>00316 <span class="comment">    Matrix([[1,0,0],[0,1,0],[0,0,1]]) +</span>
<a name="l00317"></a>00317 <span class="comment">    (2.0 / (q[1]^2+q[2]^2+q[3]^2+q[4]^2)) *</span>
<a name="l00318"></a>00318 <span class="comment">    Matrix(     [       [-q[2]*q[2]-q[3]*q[3], q[1]*q[2]-q[3]*q[4], q[3]*q[1]+q[2]*q[4]],</span>
<a name="l00319"></a>00319 <span class="comment">            [q[1]*q[2]+q[3]*q[4], -q[3]*q[3]-q[1]*q[1], q[2]*q[3]-q[1]*q[4]],</span>
<a name="l00320"></a>00320 <span class="comment">            [q[3]*q[1]-q[2]*q[4], q[2]*q[3]+q[1]*q[4], -q[2]*q[2]-q[1]*q[1]]</span>
<a name="l00321"></a>00321 <span class="comment">        ]):</span>
<a name="l00322"></a>00322 <span class="comment"></span>
<a name="l00323"></a>00323 <span class="comment">R := QuaternionToRotationMatrix(Vector([q1,q2,q3,q4])):</span>
<a name="l00324"></a>00324 <span class="comment">t := Vector([tx,ty,tz]):</span>
<a name="l00325"></a>00325 <span class="comment">p := Vector([px, py]):</span>
<a name="l00326"></a>00326 <span class="comment">P := Vector([x,y,z]):</span>
<a name="l00327"></a>00327 <span class="comment">res := log(1+Norm2(FromHomogeneous2D(R.(P-t))-p)^2 / sigma^2):</span>
<a name="l00328"></a>00328 <span class="comment"></span>
<a name="l00329"></a>00329 <span class="comment">M := Vector([ diff(res, q1), diff(res, q2), diff(res, q3), diff(res, q4), diff(res, tx), diff(res, ty), diff(res, tz), res ]):</span>
<a name="l00330"></a>00330 <span class="comment">CodeGeneration[C](M, optimize = true);</span>
<a name="l00331"></a>00331 <span class="comment">    ----------------------------------------</span>
<a name="l00332"></a>00332 <span class="comment">*/</span>
<a name="l00333"></a>00333 
<a name="l00334"></a>00334 <span class="keywordtype">void</span> evaluateReprojectionResidualsAndJacobianCauchyDistribution(
<a name="l00335"></a>00335                 <span class="keyword">const</span> <span class="keywordtype">double</span> q1, <span class="keyword">const</span> <span class="keywordtype">double</span> q2, <span class="keyword">const</span> <span class="keywordtype">double</span> q3, <span class="keyword">const</span> <span class="keywordtype">double</span> q4,
<a name="l00336"></a>00336                 <span class="keyword">const</span> <span class="keywordtype">double</span> tx, <span class="keyword">const</span> <span class="keywordtype">double</span> ty, <span class="keyword">const</span> <span class="keywordtype">double</span> tz,
<a name="l00337"></a>00337                 <span class="keyword">const</span> QPointF p2D, <span class="keyword">const</span> <a class="code" href="classQV3DPointF.html" title="3D point representation">QV3DPointF</a> p3D,
<a name="l00338"></a>00338                 <span class="keyword">const</span> <span class="keywordtype">double</span> sigma,
<a name="l00339"></a>00339                 <span class="keywordtype">double</span> *residual, <span class="keywordtype">double</span> *jacobian)
<a name="l00340"></a>00340     {
<a name="l00341"></a>00341         <span class="comment">//const double sigma = 3.0;</span>
<a name="l00342"></a>00342         <span class="keyword">const</span> <span class="keywordtype">double</span>    px = p2D.x(),
<a name="l00343"></a>00343                                         py = p2D.y(),
<a name="l00344"></a>00344                                         x = p3D.<a class="code" href="classQV3DPointF.html#aab1c8e4380b126607771339778a83a1e" title="Gets the value for the first coordinate of the 3D point.">x</a>(),
<a name="l00345"></a>00345                                         y = p3D.<a class="code" href="classQV3DPointF.html#ab3999406794a8d4afa0718af691b8920" title="Gets the value for the second coordinate of the 3D point.">y</a>(),
<a name="l00346"></a>00346                                         z = p3D.<a class="code" href="classQV3DPointF.html#aba286a7e040358ecbffce7c4566cdd8d" title="Gets the value for the third coordinate of the 3D point.">z</a>();
<a name="l00347"></a>00347 
<a name="l00348"></a>00348         <span class="keyword">const</span> <span class="keywordtype">double</span> t1 = q1 * q1;
<a name="l00349"></a>00349         <span class="keyword">const</span> <span class="keywordtype">double</span> t2 = q2 * q2;
<a name="l00350"></a>00350         <span class="keyword">const</span> <span class="keywordtype">double</span> t3 = q3 * q3;
<a name="l00351"></a>00351         <span class="keyword">const</span> <span class="keywordtype">double</span> t4 = q4 * q4;
<a name="l00352"></a>00352         <span class="keyword">const</span> <span class="keywordtype">double</span> t5 = t1 + t2 + t3 + t4;
<a name="l00353"></a>00353         <span class="keyword">const</span> <span class="keywordtype">double</span> t6 = 0.1e1 / t5;
<a name="l00354"></a>00354         <span class="keyword">const</span> <span class="keywordtype">double</span> t7 = -t2 - t3;
<a name="l00355"></a>00355         <span class="keyword">const</span> <span class="keywordtype">double</span> t10 = 0.1e1 + 0.20e1 * t6 * t7;
<a name="l00356"></a>00356         <span class="keyword">const</span> <span class="keywordtype">double</span> t11 = x - tx;
<a name="l00357"></a>00357         <span class="keyword">const</span> <span class="keywordtype">double</span> t13 = q1 * q2;
<a name="l00358"></a>00358         <span class="keyword">const</span> <span class="keywordtype">double</span> t14 = q3 * q4;
<a name="l00359"></a>00359         <span class="keyword">const</span> <span class="keywordtype">double</span> t15 = t13 - t14;
<a name="l00360"></a>00360         <span class="keyword">const</span> <span class="keywordtype">double</span> t16 = t6 * t15;
<a name="l00361"></a>00361         <span class="keyword">const</span> <span class="keywordtype">double</span> t17 = y - ty;
<a name="l00362"></a>00362         <span class="keyword">const</span> <span class="keywordtype">double</span> t20 = q3 * q1;
<a name="l00363"></a>00363         <span class="keyword">const</span> <span class="keywordtype">double</span> t21 = q2 * q4;
<a name="l00364"></a>00364         <span class="keyword">const</span> <span class="keywordtype">double</span> t22 = t20 + t21;
<a name="l00365"></a>00365         <span class="keyword">const</span> <span class="keywordtype">double</span> t23 = t6 * t22;
<a name="l00366"></a>00366         <span class="keyword">const</span> <span class="keywordtype">double</span> t24 = z - tz;
<a name="l00367"></a>00367         <span class="keyword">const</span> <span class="keywordtype">double</span> t27 = t10 * t11 + 0.20e1 * t16 * t17 + 0.20e1 * t23 * t24;
<a name="l00368"></a>00368         <span class="keyword">const</span> <span class="keywordtype">double</span> t28 = t20 - t21;
<a name="l00369"></a>00369         <span class="keyword">const</span> <span class="keywordtype">double</span> t29 = t6 * t28;
<a name="l00370"></a>00370         <span class="keyword">const</span> <span class="keywordtype">double</span> t32 = q2 * q3;
<a name="l00371"></a>00371         <span class="keyword">const</span> <span class="keywordtype">double</span> t33 = q1 * q4;
<a name="l00372"></a>00372         <span class="keyword">const</span> <span class="keywordtype">double</span> t34 = t32 + t33;
<a name="l00373"></a>00373         <span class="keyword">const</span> <span class="keywordtype">double</span> t35 = t6 * t34;
<a name="l00374"></a>00374         <span class="keyword">const</span> <span class="keywordtype">double</span> t38 = -t2 - t1;
<a name="l00375"></a>00375         <span class="keyword">const</span> <span class="keywordtype">double</span> t41 = 0.1e1 + 0.20e1 * t6 * t38;
<a name="l00376"></a>00376         <span class="keyword">const</span> <span class="keywordtype">double</span> t43 = 0.20e1 * t29 * t11 + 0.20e1 * t35 * t17 + t41 * t24;
<a name="l00377"></a>00377         <span class="keyword">const</span> <span class="keywordtype">double</span> t44 = 0.1e1 / t43;
<a name="l00378"></a>00378         <span class="keyword">const</span> <span class="keywordtype">double</span> t46 = t27 * t44 - px;
<a name="l00379"></a>00379         <span class="keyword">const</span> <span class="keywordtype">double</span> t47 = t5 * t5;
<a name="l00380"></a>00380         <span class="keyword">const</span> <span class="keywordtype">double</span> t48 = 0.1e1 / t47;
<a name="l00381"></a>00381         <span class="keyword">const</span> <span class="keywordtype">double</span> t49 = t48 * t7;
<a name="l00382"></a>00382         <span class="keyword">const</span> <span class="keywordtype">double</span> t50 = q1 * t11;
<a name="l00383"></a>00383         <span class="keyword">const</span> <span class="keywordtype">double</span> t53 = t48 * t15;
<a name="l00384"></a>00384         <span class="keyword">const</span> <span class="keywordtype">double</span> t54 = t17 * q1;
<a name="l00385"></a>00385         <span class="keyword">const</span> <span class="keywordtype">double</span> t57 = t6 * q2;
<a name="l00386"></a>00386         <span class="keyword">const</span> <span class="keywordtype">double</span> t59 = 0.20e1 * t57 * t17;
<a name="l00387"></a>00387         <span class="keyword">const</span> <span class="keywordtype">double</span> t60 = t48 * t22;
<a name="l00388"></a>00388         <span class="keyword">const</span> <span class="keywordtype">double</span> t61 = t24 * q1;
<a name="l00389"></a>00389         <span class="keyword">const</span> <span class="keywordtype">double</span> t64 = t6 * q3;
<a name="l00390"></a>00390         <span class="keyword">const</span> <span class="keywordtype">double</span> t66 = 0.20e1 * t64 * t24;
<a name="l00391"></a>00391         <span class="keyword">const</span> <span class="keywordtype">double</span> t69 = t43 * t43;
<a name="l00392"></a>00392         <span class="keyword">const</span> <span class="keywordtype">double</span> t70 = 0.1e1 / t69;
<a name="l00393"></a>00393         <span class="keyword">const</span> <span class="keywordtype">double</span> t71 = t27 * t70;
<a name="l00394"></a>00394         <span class="keyword">const</span> <span class="keywordtype">double</span> t72 = t48 * t28;
<a name="l00395"></a>00395         <span class="keyword">const</span> <span class="keywordtype">double</span> t76 = 0.20e1 * t64 * t11;
<a name="l00396"></a>00396         <span class="keyword">const</span> <span class="keywordtype">double</span> t77 = t48 * t34;
<a name="l00397"></a>00397         <span class="keyword">const</span> <span class="keywordtype">double</span> t80 = t6 * q4;
<a name="l00398"></a>00398         <span class="keyword">const</span> <span class="keywordtype">double</span> t82 = 0.20e1 * t80 * t17;
<a name="l00399"></a>00399         <span class="keyword">const</span> <span class="keywordtype">double</span> t83 = t48 * t38;
<a name="l00400"></a>00400         <span class="keyword">const</span> <span class="keywordtype">double</span> t86 = t6 * q1;
<a name="l00401"></a>00401         <span class="keyword">const</span> <span class="keywordtype">double</span> t87 = 0.40e1 * t86;
<a name="l00402"></a>00402         <span class="keyword">const</span> <span class="keywordtype">double</span> t90 = -0.40e1 * t72 * t50 + t76 - 0.40e1 * t77 * t54 + t82 + (-0.40e1 * t83 * q1 - t87) * t24;
<a name="l00403"></a>00403         <span class="keyword">const</span> <span class="keywordtype">double</span> t94 = t13 + t14;
<a name="l00404"></a>00404         <span class="keyword">const</span> <span class="keywordtype">double</span> t95 = t6 * t94;
<a name="l00405"></a>00405         <span class="keyword">const</span> <span class="keywordtype">double</span> t98 = -t3 - t1;
<a name="l00406"></a>00406         <span class="keyword">const</span> <span class="keywordtype">double</span> t101 = 0.1e1 + 0.20e1 * t6 * t98;
<a name="l00407"></a>00407         <span class="keyword">const</span> <span class="keywordtype">double</span> t103 = t32 - t33;
<a name="l00408"></a>00408         <span class="keyword">const</span> <span class="keywordtype">double</span> t104 = t6 * t103;
<a name="l00409"></a>00409         <span class="keyword">const</span> <span class="keywordtype">double</span> t107 = 0.20e1 * t95 * t11 + t101 * t17 + 0.20e1 * t104 * t24;
<a name="l00410"></a>00410         <span class="keyword">const</span> <span class="keywordtype">double</span> t109 = t107 * t44 - py;
<a name="l00411"></a>00411         <span class="keyword">const</span> <span class="keywordtype">double</span> t110 = t48 * t94;
<a name="l00412"></a>00412         <span class="keyword">const</span> <span class="keywordtype">double</span> t114 = 0.20e1 * t57 * t11;
<a name="l00413"></a>00413         <span class="keyword">const</span> <span class="keywordtype">double</span> t115 = t48 * t98;
<a name="l00414"></a>00414         <span class="keyword">const</span> <span class="keywordtype">double</span> t120 = t48 * t103;
<a name="l00415"></a>00415         <span class="keyword">const</span> <span class="keywordtype">double</span> t124 = 0.20e1 * t80 * t24;
<a name="l00416"></a>00416         <span class="keyword">const</span> <span class="keywordtype">double</span> t127 = t107 * t70;
<a name="l00417"></a>00417         <span class="keyword">const</span> <span class="keywordtype">double</span> t132 = sigma * sigma;
<a name="l00418"></a>00418         <span class="keyword">const</span> <span class="keywordtype">double</span> t133 = 0.1e1 / t132;
<a name="l00419"></a>00419         <span class="keyword">const</span> <span class="keywordtype">double</span> t135 = t46 * t46;
<a name="l00420"></a>00420         <span class="keyword">const</span> <span class="keywordtype">double</span> t136 = t109 * t109;
<a name="l00421"></a>00421         <span class="keyword">const</span> <span class="keywordtype">double</span> t139 = 0.1e1 + (t135 + t136) * t133;
<a name="l00422"></a>00422         <span class="keyword">const</span> <span class="keywordtype">double</span> t140 = 0.1e1 / t139;
<a name="l00423"></a>00423         <span class="keyword">const</span> <span class="keywordtype">double</span> t144 = 0.40e1 * t57;
<a name="l00424"></a>00424         <span class="keyword">const</span> <span class="keywordtype">double</span> t147 = t17 * q2;
<a name="l00425"></a>00425         <span class="keyword">const</span> <span class="keywordtype">double</span> t151 = 0.20e1 * t86 * t17;
<a name="l00426"></a>00426         <span class="keyword">const</span> <span class="keywordtype">double</span> t152 = t24 * q2;
<a name="l00427"></a>00427         <span class="keyword">const</span> <span class="keywordtype">double</span> t157 = t11 * q2;
<a name="l00428"></a>00428         <span class="keyword">const</span> <span class="keywordtype">double</span> t161 = 0.20e1 * t80 * t11;
<a name="l00429"></a>00429         <span class="keyword">const</span> <span class="keywordtype">double</span> t165 = 0.20e1 * t64 * t17;
<a name="l00430"></a>00430         <span class="keyword">const</span> <span class="keywordtype">double</span> t170 = -0.40e1 * t72 * t157 - t161 - 0.40e1 * t77 * t147 + t165 + (-0.40e1 * t83 * q2 - t144) * t24;
<a name="l00431"></a>00431         <span class="keyword">const</span> <span class="keywordtype">double</span> t177 = 0.20e1 * t86 * t11;
<a name="l00432"></a>00432         <span class="keyword">const</span> <span class="keywordtype">double</span> t192 = 0.40e1 * t64;
<a name="l00433"></a>00433         <span class="keyword">const</span> <span class="keywordtype">double</span> t195 = t17 * q3;
<a name="l00434"></a>00434         <span class="keyword">const</span> <span class="keywordtype">double</span> t198 = t24 * q3;
<a name="l00435"></a>00435         <span class="keyword">const</span> <span class="keywordtype">double</span> t202 = 0.20e1 * t86 * t24;
<a name="l00436"></a>00436         <span class="keyword">const</span> <span class="keywordtype">double</span> t205 = t11 * q3;
<a name="l00437"></a>00437         <span class="keyword">const</span> <span class="keywordtype">double</span> t212 = -0.40e1 * t72 * t205 + t177 - 0.40e1 * t77 * t195 + t59 - 0.40e1 * t83 * t198;
<a name="l00438"></a>00438         <span class="keyword">const</span> <span class="keywordtype">double</span> t225 = 0.20e1 * t57 * t24;
<a name="l00439"></a>00439         <span class="keyword">const</span> <span class="keywordtype">double</span> t234 = q4 * t11;
<a name="l00440"></a>00440         <span class="keyword">const</span> <span class="keywordtype">double</span> t237 = t17 * q4;
<a name="l00441"></a>00441         <span class="keyword">const</span> <span class="keywordtype">double</span> t240 = t24 * q4;
<a name="l00442"></a>00442         <span class="keyword">const</span> <span class="keywordtype">double</span> t251 = -0.40e1 * t72 * t234 - t114 - 0.40e1 * t77 * t237 + t151 - 0.40e1 * t83 * t240;
<a name="l00443"></a>00443         <span class="keyword">const</span> <span class="keywordtype">double</span> t310 = log(t139);
<a name="l00444"></a>00444 
<a name="l00445"></a>00445         jacobian[0] = 0.2e1 * (t46 * ((-0.40e1 * t49 * t50 - 0.40e1 * t53 * t54 + t59 - 0.40e1 * t60 * t61 + t66) * t44 - t71 * t90) + t109 * ((-0.40e1 * t110 * t50 + t114 + (-0.40e1 * t115 * q1 - t87) * t17 - 0.40e1 * t120 * t61 - t124) * t44 - t127 * t90)) * t133 * t140;
<a name="l00446"></a>00446         jacobian[1] = 0.2e1 * (t46 * (((-0.40e1 * t49 * q2 - t144) * t11 - 0.40e1 * t53 * t147 + t151 - 0.40e1 * t60 * t152 + t124) * t44 - t71 * t170) + t109 * ((-0.40e1 * t110 * t157 + t177 - 0.40e1 * t115 * t147 - 0.40e1 * t120 * t152 + t66) * t44 - t127 * t170)) * t133 * t140;
<a name="l00447"></a>00447         jacobian[2] = 0.2e1 * (t46 * (((-0.40e1 * t49 * q3 - t192) * t11 - 0.40e1 * t53 * t195 - t82 - 0.40e1 * t60 * t198 + t202) * t44 - t71 * t212) + t109 * ((-0.40e1 * t110 * t205 + t161 + (-0.40e1 * t115 * q3 - t192) * t17 - 0.40e1 * t120 * t198 + t225) * t44 - t127 * t212)) * t133 * t140;
<a name="l00448"></a>00448         jacobian[3] = 0.2e1 * (t46 * ((-0.40e1 * t49 * t234 - 0.40e1 * t53 * t237 - t165 - 0.40e1 * t60 * t240 + t225) * t44 - t71 * t251) + t109 * ((-0.40e1 * t110 * t234 + t76 - 0.40e1 * t115 * t237 - 0.40e1 * t120 * t240 - t202) * t44 - t127 * t251)) * t133 * t140;
<a name="l00449"></a>00449         jacobian[4] = 0.2e1 * (t46 * (-t10 * t44 + 0.20e1 * t71 * t29) + t109 * (-0.20e1 * t95 * t44 + 0.20e1 * t127 * t29)) * t133 * t140;
<a name="l00450"></a>00450         jacobian[5] = 0.2e1 * (t46 * (-0.20e1 * t16 * t44 + 0.20e1 * t71 * t35) + t109 * (-t101 * t44 + 0.20e1 * t127 * t35)) * t133 * t140;
<a name="l00451"></a>00451         jacobian[6] = 0.2e1 * (t46 * (-0.20e1 * t23 * t44 + t71 * t41) + t109 * (-0.20e1 * t104 * t44 + t127 * t41)) * t133 * t140;
<a name="l00452"></a>00452         residual[0] = t310;
<a name="l00453"></a>00453     }
<a name="l00454"></a>00454 
<a name="l00455"></a><a class="code" href="group__qvprojectivegeometry.html#ga6a50717778dcec283e6294ba95e41078">00455</a> <a class="code" href="classQVCameraPose.html" title="Class for the camera pose of a view, in a 3D reconstruction.">QVCameraPose</a> <a class="code" href="group__qvprojectivegeometry.html#ga6a50717778dcec283e6294ba95e41078" title="Improves the estimated location of a camera pose by refining its reprojection error...">optimizeReprojectionErrorForCameraPoseCauchy</a>(<span class="keyword">const</span> <a class="code" href="classQVCameraPose.html" title="Class for the camera pose of a view, in a 3D reconstruction.">QVCameraPose</a> &amp;cameraPose, <span class="keyword">const</span> QList&lt;QPointF&gt; &amp;points2D, <span class="keyword">const</span> QList&lt;QV3DPointF&gt; &amp;points3D, <span class="keyword">const</span> <span class="keywordtype">int</span> iterations, <span class="keyword">const</span> <span class="keywordtype">double</span> lambda, <span class="keyword">const</span> <span class="keywordtype">double</span> sigma)
<a name="l00456"></a>00456     {
<a name="l00457"></a>00457     <span class="keyword">const</span> <span class="keywordtype">int</span> n = points2D.size();
<a name="l00458"></a>00458 
<a name="l00459"></a>00459     <a class="code" href="classQVVector.html" title="Implementation of numerical vectors.">QVVector</a> x = cameraPose;
<a name="l00460"></a>00460     <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; iterations; i++)
<a name="l00461"></a>00461         {
<a name="l00462"></a>00462         <a class="code" href="classQVVector.html" title="Implementation of numerical vectors.">QVVector</a> f_x(n);
<a name="l00463"></a>00463         <a class="code" href="classQVMatrix.html" title="Implementation of numerical matrices.">QVMatrix</a> J(n, 7);
<a name="l00464"></a>00464         <span class="keywordtype">double</span>  *data_f_x = f_x.data(),
<a name="l00465"></a>00465             *data_J = J.<a class="code" href="classQVMatrix.html#a0c5b1e685d14d230c55cfcfb058e372a" title="Gets a reference of the data buffer of the matrix for read and write accesses.">getWriteData</a>();
<a name="l00466"></a>00466 
<a name="l00467"></a>00467         QListIterator&lt;QPointF&gt; iteratorPoints2D(points2D);
<a name="l00468"></a>00468         QListIterator&lt;QV3DPointF&gt; iteratorPoints3D(points3D);
<a name="l00469"></a>00469 
<a name="l00470"></a>00470         <span class="keywordtype">int</span> j = 0;
<a name="l00471"></a>00471         <span class="keywordflow">while</span> (iteratorPoints2D.hasNext())
<a name="l00472"></a>00472             {
<a name="l00473"></a>00473             <span class="keyword">const</span> QPointF p2D = iteratorPoints2D.next();
<a name="l00474"></a>00474             <span class="keyword">const</span> <a class="code" href="classQV3DPointF.html" title="3D point representation">QV3DPointF</a> p3D = iteratorPoints3D.next();
<a name="l00475"></a>00475             evaluateReprojectionResidualsAndJacobianCauchyDistribution(x[0], x[1], x[2], x[3], x[4], x[5], x[6], p2D, p3D, sigma, data_f_x + j, data_J + (7*j));
<a name="l00476"></a>00476             j++;
<a name="l00477"></a>00477             }
<a name="l00478"></a>00478 
<a name="l00479"></a>00479                 Q_ASSERT(not f_x.<a class="code" href="classQVVector.html#a29235517605f49f2327df62d5e0295df" title="Checks whether the vector contains a NaN value or not.">containsNaN</a>());
<a name="l00480"></a>00480                 Q_ASSERT(not J.<a class="code" href="classQVMatrix.html#a43455dfaf2e8fa71242ea1fdc8beb102" title="Checks whether the matrix contains a NaN value or not.">containsNaN</a>());
<a name="l00481"></a>00481 
<a name="l00482"></a>00482         <a class="code" href="classQVMatrix.html" title="Implementation of numerical matrices.">QVMatrix</a> H = J.<a class="code" href="classQVMatrix.html#a5470e61c2827d5485596c3901690154c" title="Matrix-matrix product.">dotProduct</a>(J, <span class="keyword">true</span>, <span class="keyword">false</span>);
<a name="l00483"></a>00483         <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; H.getCols(); i++)
<a name="l00484"></a>00484             H(i,i) += lambda;
<a name="l00485"></a>00485         <a class="code" href="classQVVector.html" title="Implementation of numerical vectors.">QVVector</a> b = J.<a class="code" href="classQVMatrix.html#a5470e61c2827d5485596c3901690154c" title="Matrix-matrix product.">dotProduct</a>(f_x, <span class="keyword">true</span>);
<a name="l00486"></a>00486 
<a name="l00487"></a>00487         <a class="code" href="classQVVector.html" title="Implementation of numerical vectors.">QVVector</a> xInc;
<a name="l00488"></a>00488         <a class="code" href="group__qvmatrixalgebra.html#ga7afb7ef53aed190e810886e4941bc3de" title="Solves the linear system  for the unknown matrix , using the Cholesky decomposition...">solveByCholeskyDecomposition</a>(H, xInc, b);
<a name="l00489"></a>00489 
<a name="l00490"></a>00490         x = x - xInc;
<a name="l00491"></a>00491         }
<a name="l00492"></a>00492 
<a name="l00493"></a>00493     <span class="keywordflow">return</span> <a class="code" href="classQVCameraPose.html" title="Class for the camera pose of a view, in a 3D reconstruction.">QVCameraPose</a>(x);
<a name="l00494"></a>00494     }
<a name="l00495"></a>00495 
</pre></div></div>
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